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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef YDLIDAR_DRIVER_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define YDLIDAR_DRIVER_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;atomic&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;locker.h&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;serial.h&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;thread.h&quot;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#if !defined(__cplusplus)</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef __cplusplus</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#error &quot;The YDLIDAR SDK requires a C++ compiler to be built&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#if !defined(_countof)</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#define LIDAR_CMD_STOP                      0x65</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SCAN                      0x60</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#define LIDAR_CMD_FORCE_SCAN                0x61</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#define LIDAR_CMD_RESET                     0x80</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#define LIDAR_CMD_FORCE_STOP                0x00</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define LIDAR_CMD_GET_EAI                   0x55</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#define LIDAR_CMD_GET_DEVICE_INFO           0x90</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#define LIDAR_CMD_GET_DEVICE_HEALTH         0x92</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#define LIDAR_ANS_TYPE_DEVINFO              0x4</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#define LIDAR_ANS_TYPE_DEVHEALTH            0x6</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SYNC_BYTE                 0xA5</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#define LIDAR_CMDFLAG_HAS_PAYLOAD           0x80</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#define LIDAR_ANS_SYNC_BYTE1                0xA5</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define LIDAR_ANS_SYNC_BYTE2                0x5A</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define LIDAR_ANS_TYPE_MEASUREMENT          0x81</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#define LIDAR_RESP_MEASUREMENT_SYNCBIT        (0x1&lt;&lt;0)</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT  2</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define LIDAR_RESP_MEASUREMENT_CHECKBIT       (0x1&lt;&lt;0)</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT    1</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#define LIDAR_CMD_RUN_POSITIVE             0x06</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define LIDAR_CMD_RUN_INVERSION            0x07</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_AIMSPEED_ADDMIC      0x09</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_AIMSPEED_DISMIC      0x0A</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_AIMSPEED_ADD         0x0B</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_AIMSPEED_DIS         0x0C</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#define LIDAR_CMD_GET_AIMSPEED             0x0D</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_SAMPLING_RATE        0xD0</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#define LIDAR_CMD_GET_SAMPLING_RATE        0xD1</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#define LIDAR_STATUS_OK                    0x0</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#define LIDAR_STATUS_WARNING               0x1</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#define LIDAR_STATUS_ERROR                 0x2</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#define LIDAR_CMD_ENABLE_LOW_POWER         0x01</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#define LIDAR_CMD_DISABLE_LOW_POWER        0x02</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#define LIDAR_CMD_STATE_MODEL_MOTOR        0x05</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#define LIDAR_CMD_ENABLE_CONST_FREQ        0x0E</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#define LIDAR_CMD_DISABLE_CONST_FREQ       0x0F</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SAVE_SET_EXPOSURE         0x94</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_LOW_EXPOSURE          0x95</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="preprocessor">#define LIDAR_CMD_ADD_EXPOSURE              0x96</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#define LIDAR_CMD_DIS_EXPOSURE              0x97</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_HEART_BEAT        0xD9</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="preprocessor">#define LIDAR_CMD_SET_SETPOINTSFORONERINGFLAG  0xae</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="preprocessor">#define PackageSampleMaxLngth 0x100</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    CT_Normal = 0,</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    CT_RingStart  = 1,</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    CT_Tail,</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}CT;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#define Node_Default_Quality (10&lt;&lt;2)</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="preprocessor">#define Node_Sync 1</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#define Node_NotSync 2</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="preprocessor">#define PackagePaidBytes 10</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">#define PH 0x55AA</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="preprocessor">#if defined(_WIN32)</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="preprocessor">#pragma pack(1)</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structnode__info.html">   82</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structnode__info.html">node_info</a> {</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    uint8_t    sync_quality;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    uint16_t   angle_q6_checkbit;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    uint16_t   distance_q2;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    uint64_t   stamp;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;} __attribute__((packed)) ;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="struct_package_node.html">   89</a></span>&#160;<span class="keyword">struct </span><a class="code" href="struct_package_node.html">PackageNode</a> {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    uint8_t PakageSampleQuality;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    uint16_t PakageSampleDistance;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;}__attribute__((packed));</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structnode__package.html">   94</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structnode__package.html">node_package</a> {</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    uint16_t  package_Head;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    uint8_t   package_CT;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    uint8_t   nowPackageNum;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    uint16_t  packageFirstSampleAngle;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    uint16_t  packageLastSampleAngle;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    uint16_t  checkSum;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <a class="code" href="struct_package_node.html">PackageNode</a>  packageSample[PackageSampleMaxLngth];</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;} __attribute__((packed)) ;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structnode__packages.html">  104</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structnode__packages.html">node_packages</a> {</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    uint16_t  package_Head;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    uint8_t   package_CT;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    uint8_t   nowPackageNum;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    uint16_t  packageFirstSampleAngle;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    uint16_t  packageLastSampleAngle;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    uint16_t  checkSum;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    uint16_t  packageSampleDistance[PackageSampleMaxLngth];</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;} __attribute__((packed)) ;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structdevice__info.html">  115</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structdevice__info.html">device_info</a>{</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="structdevice__info.html#a3c491b342ed11af3c70358e7e8f6c935">  116</a></span>&#160;    uint8_t   <a class="code" href="structdevice__info.html#a3c491b342ed11af3c70358e7e8f6c935">model</a>; </div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structdevice__info.html#af3d369a410577d85ec6b59ffeeaade48">  117</a></span>&#160;    uint16_t  <a class="code" href="structdevice__info.html#af3d369a410577d85ec6b59ffeeaade48">firmware_version</a>; </div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="structdevice__info.html#add77e9b0edbc4a0dbd8f91b0cac9ea13">  118</a></span>&#160;    uint8_t   <a class="code" href="structdevice__info.html#add77e9b0edbc4a0dbd8f91b0cac9ea13">hardware_version</a>; </div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="structdevice__info.html#abf23e35480aff36d846085ca6fd0eec3">  119</a></span>&#160;    uint8_t   serialnum[16];    </div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;} __attribute__((packed)) ;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="structdevice__health.html">  122</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structdevice__health.html">device_health</a> {</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="structdevice__health.html#ac3425f5555ecbb5a0da03b4cabe2777c">  123</a></span>&#160;    uint8_t   <a class="code" href="structdevice__health.html#ac3425f5555ecbb5a0da03b4cabe2777c">status</a>; </div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structdevice__health.html#a8815828d6de33cb43e8b72da48f51f23">  124</a></span>&#160;    uint16_t  <a class="code" href="structdevice__health.html#a8815828d6de33cb43e8b72da48f51f23">error_code</a>; </div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;} __attribute__((packed))  ;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="structsampling__rate.html">  127</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structsampling__rate.html">sampling_rate</a> {</div><div class="line"><a name="l00128"></a><span class="lineno"><a class="line" 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name="l00436"></a><span class="lineno">  436</span>&#160;</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        result_t setScanFrequencyAddMic(<a class="code" href="structscan__frequency.html">scan_frequency</a> &amp; frequency, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        result_t setScanFrequencyDisMic(<a class="code" href="structscan__frequency.html">scan_frequency</a> &amp; frequency, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        result_t getSamplingRate(<a class="code" href="structsampling__rate.html">sampling_rate</a> &amp; rate, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00469"></a><span 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502</span>&#160;</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        result_t enableLowerPower(<a class="code" href="structfunction__state.html">function_state</a> &amp; state, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;        result_t disableLowerPower(<a class="code" href="structfunction__state.html">function_state</a> &amp; state, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        result_t getMotorState(<a class="code" href="structfunction__state.html">function_state</a> &amp; state, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        result_t enableConstFreq(<a class="code" href="structfunction__state.html">function_state</a> &amp; state, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        result_t disableConstFreq(<a class="code" href="structfunction__state.html">function_state</a> &amp; state, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        result_t setSaveLowExposure(<a class="code" href="structscan__exposure.html">scan_exposure</a>&amp; low_exposure, uint32_t timeout = DEFAULT_TIMEOUT);</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;</div><div class="line"><a name="l00581"></a><span 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name="l00755"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a8a57494e849e7735fe8bf46d00b63077">  755</a></span>&#160;        std::atomic&lt;bool&gt;     <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a8a57494e849e7735fe8bf46d00b63077">isHeartbeat</a>;  </div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;</div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;        <span class="keyword">enum</span> {</div><div class="line"><a name="l00758"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a13a4f2dc4067b43794b2c47c06d5d27aa07c79ce96f468ff4b40495ef84584442">  758</a></span>&#160;            DEFAULT_TIMEOUT = 2000,    </div><div class="line"><a name="l00759"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a13a4f2dc4067b43794b2c47c06d5d27aa94033b4717c83f52cd008fe38b712e21">  759</a></span>&#160;            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774</a></span>&#160;        <span class="keywordtype">size_t</span>         <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a106fc563bb42f19e84e8d9db1e7856fe">scan_node_count</a>;      </div><div class="line"><a name="l00775"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#afd2b3835a0e450d9b88d28d8f574148d">  775</a></span>&#160;        <a class="code" href="class_event.html">Event</a>          <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#afd2b3835a0e450d9b88d28d8f574148d">_dataEvent</a>;           </div><div class="line"><a name="l00776"></a><span class="lineno"><a class="line" href="classydlidar_1_1_y_dlidar_driver.html#a1bb836661c8c39c2b71c9a0de8755c5c">  776</a></span>&#160;        <a class="code" href="class_locker.html">Locker</a>         <a class="code" href="classydlidar_1_1_y_dlidar_driver.html#a1bb836661c8c39c2b71c9a0de8755c5c">_lock</a>;               </div><div class="line"><a name="l00777"></a><span 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   <a class="code" href="classserial_1_1_serial.html">serial::Serial</a> *_serial;            </div><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;        <span class="keywordtype">bool</span> m_intensities;                 </div><div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;        <span class="keywordtype">int</span> _sampling_rate;                 </div><div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;        <span class="keywordtype">int</span> model;                          </div><div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;        uint32_t _baudrate;                 </div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;        <span class="keywordtype">bool</span> isSupportMotorCtrl;            </div><div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;        uint64_t m_ns;                      </div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;        uint64_t m_calc_ns;                 </div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;        uint32_t m_pointTime;               </div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;        uint32_t trans_delay;               </div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;</div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;        <a class="code" href="structnode__package.html">node_package</a> package;</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;        <a class="code" href="structnode__packages.html">node_packages</a> packages;</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;</div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;        uint16_t package_Sample_Index;</div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;        <span class="keywordtype">float</span> IntervalSampleAngle;</div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;        <span class="keywordtype">float</span> IntervalSampleAngle_LastPackage;</div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;        uint16_t FirstSampleAngle;</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        uint16_t LastSampleAngle;</div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        uint16_t CheckSun;</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;</div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        uint16_t CheckSunCal;</div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        uint16_t SampleNumlAndCTCal;</div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;        uint16_t LastSampleAngleCal;</div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        <span class="keywordtype">bool</span> CheckSunResult;</div><div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        uint16_t Valu8Tou16;</div><div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;</div><div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;    };</div><div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;}</div><div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;</div><div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;<span class="preprocessor">#endif // YDLIDAR_DRIVER_H</span></div><div class="ttc" id="struct_laser_config_html_a67279ae0f648a129521576f52c321932"><div class="ttname"><a href="struct_laser_config.html#a67279ae0f648a129521576f52c321932">LaserConfig::ang_increment</a></div><div class="ttdeci">float ang_increment</div><div class="ttdoc">Scan resolution [rad]. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:184</div></div>
<div class="ttc" id="structsampling__rate_html_a8d860fbedd930d2022fe7bb6cf1f78b6"><div class="ttname"><a href="structsampling__rate.html#a8d860fbedd930d2022fe7bb6cf1f78b6">sampling_rate::rate</a></div><div class="ttdeci">uint8_t rate</div><div class="ttdoc">采样频率 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:128</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a245115a8c8a4f98d988fbee06810d0a4"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a245115a8c8a4f98d988fbee06810d0a4">ydlidar::YDlidarDriver::isScanning</a></div><div class="ttdeci">std::atomic&lt; bool &gt; isScanning</div><div class="ttdoc">扫图状态 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:754</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a106fc563bb42f19e84e8d9db1e7856fe"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a106fc563bb42f19e84e8d9db1e7856fe">ydlidar::YDlidarDriver::scan_node_count</a></div><div class="ttdeci">size_t scan_node_count</div><div class="ttdoc">激光点数 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:774</div></div>
<div class="ttc" id="namespaceydlidar_html"><div class="ttname"><a href="namespaceydlidar.html">ydlidar</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:215</div></div>
<div class="ttc" id="struct_laser_config_html_a0b68f6041dc05310626ef221d4cc2db9"><div class="ttname"><a href="struct_laser_config.html#a0b68f6041dc05310626ef221d4cc2db9">LaserConfig::min_angle</a></div><div class="ttdeci">float min_angle</div><div class="ttdoc">Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDL...</div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:180</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a8a57494e849e7735fe8bf46d00b63077"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a8a57494e849e7735fe8bf46d00b63077">ydlidar::YDlidarDriver::isHeartbeat</a></div><div class="ttdeci">std::atomic&lt; bool &gt; isHeartbeat</div><div class="ttdoc">掉电保护状态 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:755</div></div>
<div class="ttc" id="structdevice__health_html_ac3425f5555ecbb5a0da03b4cabe2777c"><div class="ttname"><a href="structdevice__health.html#ac3425f5555ecbb5a0da03b4cabe2777c">device_health::status</a></div><div class="ttdeci">uint8_t status</div><div class="ttdoc">健康状体 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:123</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_afd2b3835a0e450d9b88d28d8f574148d"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#afd2b3835a0e450d9b88d28d8f574148d">ydlidar::YDlidarDriver::_dataEvent</a></div><div class="ttdeci">Event _dataEvent</div><div class="ttdoc">数据同步事件 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:775</div></div>
<div class="ttc" id="structcmd__packet_html"><div class="ttname"><a href="structcmd__packet.html">cmd_packet</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:155</div></div>
<div class="ttc" id="structdevice__health_html"><div class="ttname"><a href="structdevice__health.html">device_health</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:122</div></div>
<div class="ttc" id="class_event_html"><div class="ttname"><a href="class_event.html">Event</a></div><div class="ttdef"><b>Definition:</b> locker.h:167</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a9fbd1b3471c1aa4959d74524b9a92410"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a9fbd1b3471c1aa4959d74524b9a92410">ydlidar::YDlidarDriver::_thread</a></div><div class="ttdeci">Thread _thread</div><div class="ttdoc">线程id </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:777</div></div>
<div class="ttc" id="structdevice__health_html_a8815828d6de33cb43e8b72da48f51f23"><div class="ttname"><a href="structdevice__health.html#a8815828d6de33cb43e8b72da48f51f23">device_health::error_code</a></div><div class="ttdeci">uint16_t error_code</div><div class="ttdoc">错误代码 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:124</div></div>
<div class="ttc" id="namespacestd_html"><div class="ttname"><a href="namespacestd.html">std</a></div></div>
<div class="ttc" id="struct_laser_config_html_ae52eb0e0aca41f6dde58700a642e4c80"><div class="ttname"><a href="struct_laser_config.html#ae52eb0e0aca41f6dde58700a642e4c80">LaserConfig::range_res</a></div><div class="ttdeci">float range_res</div><div class="ttdoc">Range Resolution [m]. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:194</div></div>
<div class="ttc" id="structscan_dot_html"><div class="ttname"><a href="structscan_dot.html">scanDot</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:170</div></div>
<div class="ttc" id="structlidar__ans__header_html"><div class="ttname"><a href="structlidar__ans__header.html">lidar_ans_header</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:162</div></div>
<div class="ttc" id="struct_laser_config_html"><div class="ttname"><a href="struct_laser_config.html">LaserConfig</a></div><div class="ttdoc">A struct for returning configuration from the YDLIDAR. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:178</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a1bb836661c8c39c2b71c9a0de8755c5c"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a1bb836661c8c39c2b71c9a0de8755c5c">ydlidar::YDlidarDriver::_lock</a></div><div class="ttdeci">Locker _lock</div><div class="ttdoc">线程锁 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:776</div></div>
<div class="ttc" id="struct_laser_scan_html"><div class="ttname"><a href="struct_laser_scan.html">LaserScan</a></div><div class="ttdoc">A struct for returning laser readings from the YDLIDAR. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:199</div></div>
<div class="ttc" id="struct_laser_scan_html_ad37e2a54c7eff58cad7576d51916b859"><div class="ttname"><a href="struct_laser_scan.html#ad37e2a54c7eff58cad7576d51916b859">LaserScan::self_time_stamp</a></div><div class="ttdeci">uint64_t self_time_stamp</div><div class="ttdoc">Self reported time stamp in nanoseconds. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:205</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html_a4457578961d36ce22035d778c0fd7f06"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html#a4457578961d36ce22035d778c0fd7f06">ydlidar::YDlidarDriver::isConnected</a></div><div class="ttdeci">std::atomic&lt; bool &gt; isConnected</div><div class="ttdoc">串口连接状体 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:753</div></div>
<div class="ttc" id="struct_laser_scan_html_a1bb6b997ce698fbc516bc20ab3ba3399"><div class="ttname"><a href="struct_laser_scan.html#a1bb6b997ce698fbc516bc20ab3ba3399">LaserScan::system_time_stamp</a></div><div class="ttdeci">uint64_t system_time_stamp</div><div class="ttdoc">System time when first range was measured in nanoseconds. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:207</div></div>
<div class="ttc" id="class_thread_html"><div class="ttname"><a href="class_thread.html">Thread</a></div><div class="ttdef"><b>Definition:</b> thread.h:22</div></div>
<div class="ttc" id="structnode__package_html"><div class="ttname"><a href="structnode__package.html">node_package</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:94</div></div>
<div class="ttc" id="structscan__heart__beat_html"><div class="ttname"><a href="structscan__heart__beat.html">scan_heart_beat</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:143</div></div>
<div class="ttc" id="struct_laser_scan_html_a4d059cb77f0f9f6e558db50c9993f7df"><div class="ttname"><a href="struct_laser_scan.html#a4d059cb77f0f9f6e558db50c9993f7df">LaserScan::ranges</a></div><div class="ttdeci">std::vector&lt; float &gt; ranges</div><div class="ttdoc">Array of ranges. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:201</div></div>
<div class="ttc" id="namespaceserial_html"><div class="ttname"><a href="namespaceserial.html">serial</a></div><div class="ttdef"><b>Definition:</b> serial.h:11</div></div>
<div class="ttc" id="structscan__heart__beat_html_a2b75f0058448601c590dda44d962d5c9"><div class="ttname"><a href="structscan__heart__beat.html#a2b75f0058448601c590dda44d962d5c9">scan_heart_beat::enable</a></div><div class="ttdeci">uint8_t enable</div><div class="ttdoc">掉电保护状态 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:144</div></div>
<div class="ttc" id="structscan__exposure_html_a49591ef660667fcd1c3e1c2f3d764004"><div class="ttname"><a href="structscan__exposure.html#a49591ef660667fcd1c3e1c2f3d764004">scan_exposure::exposure</a></div><div class="ttdeci">uint8_t exposure</div><div class="ttdoc">低光功率模式 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:140</div></div>
<div class="ttc" id="structdevice__info_html"><div class="ttname"><a href="structdevice__info.html">device_info</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:115</div></div>
<div class="ttc" id="structsampling__rate_html"><div class="ttname"><a href="structsampling__rate.html">sampling_rate</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:127</div></div>
<div class="ttc" id="struct_laser_scan_html_a6e68040137d787ef7ef47580d147c503"><div class="ttname"><a href="struct_laser_scan.html#a6e68040137d787ef7ef47580d147c503">LaserScan::intensities</a></div><div class="ttdeci">std::vector&lt; float &gt; intensities</div><div class="ttdoc">Array of intensities. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:203</div></div>
<div class="ttc" id="struct_laser_config_html_ada1a720957176549489916335edcc335"><div class="ttname"><a href="struct_laser_config.html#ada1a720957176549489916335edcc335">LaserConfig::time_increment</a></div><div class="ttdeci">float time_increment</div><div class="ttdoc">Scan resoltuion [s]. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:186</div></div>
<div class="ttc" id="struct_laser_config_html_af40c5e3902bb931e337ea400682e5636"><div class="ttname"><a href="struct_laser_config.html#af40c5e3902bb931e337ea400682e5636">LaserConfig::scan_time</a></div><div class="ttdeci">float scan_time</div><div class="ttdoc">Time between scans. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:188</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html">ydlidar::YDlidarDriver</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:217</div></div>
<div class="ttc" id="struct_laser_config_html_a2d09a717415770110787788127ad6b14"><div class="ttname"><a href="struct_laser_config.html#a2d09a717415770110787788127ad6b14">LaserConfig::max_angle</a></div><div class="ttdeci">float max_angle</div><div class="ttdoc">Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLI...</div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:182</div></div>
<div class="ttc" id="struct_laser_config_html_a977dcea9a68dc9dd21113fd0eff24c9c"><div class="ttname"><a href="struct_laser_config.html#a977dcea9a68dc9dd21113fd0eff24c9c">LaserConfig::max_range</a></div><div class="ttdeci">float max_range</div><div class="ttdoc">Maximum range [m]. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:192</div></div>
<div class="ttc" id="structdevice__info_html_af3d369a410577d85ec6b59ffeeaade48"><div class="ttname"><a href="structdevice__info.html#af3d369a410577d85ec6b59ffeeaade48">device_info::firmware_version</a></div><div class="ttdeci">uint16_t firmware_version</div><div class="ttdoc">固件版本号 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:117</div></div>
<div class="ttc" id="structscan__exposure_html"><div class="ttname"><a href="structscan__exposure.html">scan_exposure</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:139</div></div>
<div class="ttc" id="structdevice__info_html_a3c491b342ed11af3c70358e7e8f6c935"><div class="ttname"><a href="structdevice__info.html#a3c491b342ed11af3c70358e7e8f6c935">device_info::model</a></div><div class="ttdeci">uint8_t model</div><div class="ttdoc">雷达型号 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:116</div></div>
<div class="ttc" id="structdevice__info_html_add77e9b0edbc4a0dbd8f91b0cac9ea13"><div class="ttname"><a href="structdevice__info.html#add77e9b0edbc4a0dbd8f91b0cac9ea13">device_info::hardware_version</a></div><div class="ttdeci">uint8_t hardware_version</div><div class="ttdoc">硬件版本号 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:118</div></div>
<div class="ttc" id="structscan__points_html"><div class="ttname"><a href="structscan__points.html">scan_points</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:147</div></div>
<div class="ttc" id="struct_laser_config_html_a262652da08f505f112be9e017fb43a43"><div class="ttname"><a href="struct_laser_config.html#a262652da08f505f112be9e017fb43a43">LaserConfig::min_range</a></div><div class="ttdeci">float min_range</div><div class="ttdoc">Minimum range [m]. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:190</div></div>
<div class="ttc" id="structscan__rotation_html"><div class="ttname"><a href="structscan__rotation.html">scan_rotation</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:135</div></div>
<div class="ttc" id="structscan__frequency_html_ae4f2152e77416cff02f44452355f2808"><div class="ttname"><a href="structscan__frequency.html#ae4f2152e77416cff02f44452355f2808">scan_frequency::frequency</a></div><div class="ttdeci">uint32_t frequency</div><div class="ttdoc">扫描频率 </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:132</div></div>
<div class="ttc" id="struct_laser_scan_html_a5c7dd0b85432e62cf319f2ad4ec058b4"><div class="ttname"><a href="struct_laser_scan.html#a5c7dd0b85432e62cf319f2ad4ec058b4">LaserScan::config</a></div><div class="ttdeci">LaserConfig config</div><div class="ttdoc">Configuration of scan. </div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:209</div></div>
<div class="ttc" id="structnode__info_html"><div class="ttname"><a href="structnode__info.html">node_info</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:82</div></div>
<div class="ttc" id="structscan__frequency_html"><div class="ttname"><a href="structscan__frequency.html">scan_frequency</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:131</div></div>
<div class="ttc" id="classserial_1_1_serial_html"><div class="ttname"><a href="classserial_1_1_serial.html">serial::Serial</a></div><div class="ttdef"><b>Definition:</b> serial.h:107</div></div>
<div class="ttc" id="struct_package_node_html"><div class="ttname"><a href="struct_package_node.html">PackageNode</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:89</div></div>
<div class="ttc" id="structfunction__state_html"><div class="ttname"><a href="structfunction__state.html">function_state</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:151</div></div>
<div class="ttc" id="class_locker_html"><div class="ttname"><a href="class_locker.html">Locker</a></div><div class="ttdef"><b>Definition:</b> locker.h:20</div></div>
<div class="ttc" id="structnode__packages_html"><div class="ttname"><a href="structnode__packages.html">node_packages</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:104</div></div>
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